KR100667393B1 - Rotary work lifter and processing machine - Google Patents

Abstract

The present invention provides a rotatable work by providing means for detecting the rotational state of the rotatable work lifter from time to time, and a determination unit for determining whether to stop the operation of the rotatable work lifter by the rotational state of the rotatable work lifter detected by the means. When the lifter stops the rotation by sandwiching the workpiece or the like between the machining table and the like, and the rotation is stopped by any other influence, the operation of the rotary work lifter can be stopped. Therefore, the drive source continues to generate torque even after the rotation of the rotary work lifter stops as in the related art, and it is possible to prevent the rotary work lifter, the working table, or the like from breaking.

Description

ROTARY WORK LIFTER AND PROCESSING MACHINE}

BACKGROUND OF THE INVENTION Field of the Invention [0001] The present invention relates to a machine having a rotary work lifter and a rotary work lifter for facilitating the carrying out of work on the working table of a machine, and a rotary work lifter and a work table at the time of rotation of the rotary work lifter. This is to prevent damage to a rotary work lifter, a work table, or the like due to the insertion of a work piece between the back and the like.

In a conventional laser processing machine, as disclosed in Japanese Unexamined Patent Publication No. Hei 6-233, the work table is provided with a rotary work lifter, and the rotary work lifter is rotated 180 degrees to bring in the work on the work table or There exists a structure which can carry out easily.

By the way, when the workpiece or the like is sandwiched between the machining table and the like during the rotation of the rotary work lifter, the rotation cannot be performed any more and the rotation is stopped. However, if the driving source of the rotary work lifter continues to generate torque, the rotary work lifter Or breakage of the machining table. Therefore, when the rotation of the rotary work lifter is stopped, it is necessary to stop the rotation.

However, since the conventional rotary work lifter does not have a means for detecting the rotational situation of the rotary work lifter at any time, even if the rotation of the rotary work lifter is interrupted by the insertion of a workpiece or the like, it cannot be detected. Therefore, since it has not reached the completion position of rotation, there existed a problem that a drive source continued generation | occurrence | production of a torque, and to breakage of a rotary work lifter, a processing table, etc.

SUMMARY OF THE INVENTION The present invention has been made to solve such a problem, and includes a rotary work provided with a protection device for preventing damage to a rotary work lifter, a processing table, or the like due to the insertion of a workpiece between the rotary work lifter and the working table. It is to provide a lifter and a machine equipped with the rotary work lifter.

In the rotary work lifter and the machine according to the present invention, it is determined whether to stop the operation of the rotary work lifter by means of detecting the rotation state of the rotary work lifter at any time and by the rotation state of the rotary work lifter detected by the means. A judging section for judging is provided. The detection means detects a value indicating the rotational situation of the rotary work lifter, outputs the detected value to the determination unit, and the determination unit determines that rotation of the rotary work lifter may be interrupted by the input value. In this case, by sending a signal to the control device of the rotary work lifter to stop the operation of the rotary work lifter.

According to the present invention, when the rotary work lifter stops the rotation by inserting the workpiece or the like between the machining table and the like by providing the detection means and the determination unit, the rotation is stopped when the rotation is stopped by any other influence. The operation of the lifter can be stopped. Therefore, the drive source continues to generate torque even after the rotation of the rotary work lifter is stopped as in the related art, and it is possible to prevent the rotary work lifter, the working table, or the like from breaking. Moreover, since damage to a rotary work lifter or a processing table can be prevented, the cost and time required for the repair at the time of a damage can be reduced, and operating cost as a processing machine and improvement of processing efficiency can be realized. have.

BRIEF DESCRIPTION OF THE DRAWINGS It is a perspective view which shows the laser processing machine provided with the rotary work lifter which shows Embodiment 1 of this invention.

It is a partial top view which shows the machining table of the laser processing machine provided with the rotary work lifter which shows Embodiment 1 of this invention.

3A to 3D are enlarged cross-sectional views taken along the line A-A of FIG. 2, showing the rotary work lifter according to the first embodiment of the present invention.

4 is an enlarged front view seen from arrow B of FIG. 2, showing the rotary work lifter according to the first embodiment of the present invention.

FIG. 5 is an enlarged side view seen from arrow C of FIG. 2 showing a rotary work lifter according to Embodiment 1 of the present invention.

It is a block diagram which shows the control part of the rotary work lifter which shows Embodiment 1 of this invention.

7 is a flowchart showing a control method of the rotary work lifter according to the first embodiment of the present invention.

FIG. 8 is an enlarged front view of the rotary work lifter according to the second embodiment of the present invention as viewed from the same direction as in FIG. 4. FIG.

FIG. 9 is an enlarged side view of the rotary work lifter according to Embodiment 2 of the present invention as viewed from the same direction as in FIG. 5. FIG.

It is a block diagram which shows the control part of the rotary work lifter which shows Embodiment 2 of this invention.

11 is a flowchart showing a control method of the rotary work lifter according to the second embodiment of the present invention.

It is a front enlarged view seen from the same direction as FIG. 4 which shows the rotary work lifter which shows Embodiment 3 of this invention.

It is an enlarged side view seen from the same direction as FIG. 5 which shows the rotary work lifter which shows Embodiment 3 of this invention.

It is a block diagram which shows the control part of the rotary work lifter which shows Embodiment 3 of this invention.

Fig. 15 is a flowchart showing a control method of the rotary work lifter according to the third embodiment of the present invention.

It is a flowchart which shows the control method of the rotary work lifter which concerns on Embodiment 4 of this invention.

Embodiment 1.

BRIEF DESCRIPTION OF THE DRAWINGS It is a perspective view which shows the board | substrate laser processing machine equipped with the rotary work lifter in Embodiment 1 for implementing this invention. FIG. 2 is a plan view of the processing table 2 of the sheet laser machine of FIG. 1 seen from above. FIG. 3A to 3D are enlarged views of the rotatable work lifter 1 as A-A sectional view of FIG. 2, showing one rotatable work lifter. 3A is a view showing the position of the rotary work lifter when the work is carried out or brought in. FIG. 3B is a view showing the position of the rotary work lifter at the time of machining, and FIG. 3C is a view of the time when the rotary work lifter lifts the work. It is a figure which shows a position, and FIG. 3D is a figure in which a rotary workpiece lifter stopped rotation by interposing a workpiece with a machining table. FIG. 4 is a view seen from the arrow B in FIG. 2, and is a view seen from the front of the detecting means of the rotational situation in the rotary work lifter. FIG. 5 is a view seen from the arrow C in FIG. 2, which is a side view of the means for detecting the rotational situation in the rotary work lifter. It is a block diagram which shows the control part of the rotary work lifter in Embodiment 1 for implementing this invention. 7 is a flowchart showing a control method of the controller.

In FIG. 1, the workpiece | work 3 is mounted on the processing table 2 provided with the rotary work lifter 1, and it is a structure which can carry in and take out the workpiece | work 3 easily. The rotary work lifter 1 is provided with a protection device. The laser beam output from the oscillator 4 is directed to the machining head 5 disposed above the workpiece 3 and irradiated to the workpiece 3 from the machining head 5. The machining table 2 can move the inside of a horizontal plane in the X-axis direction shown in FIG. 1, and the machining head 5 has the Y-axis shown in FIG. 1 in the plane perpendicular | vertical to the movement axis of the machining table 2 It can move in two directions of Z axis. By moving the processing table 2 and the processing head 5 relatively, the workpiece | work 3 can be processed to a desired shape with the laser beam irradiated from the processing head 5.

In FIG. 1, although the laser processing machine provided with the rotary work lifter 1 was shown and Embodiment 1 which concerns on this invention was described, other plate processing machines, such as a gas cutting machine and a plasma cutting machine, are equipped with a rotary work lifter. If it does, the protection device of the rotary work lifter shown in Embodiment 1 can be applied, and the same effect can be obtained.

In FIG. 2, a plurality of rotary work lifters 1 are mounted to the machining table 2 in parallel. The sprocket 6 is attached to the rotating shaft of each rotatable work lifter 1, and the sprockets 6 of the rotatable work lifter 1 adjacent to each other are connected to each other by the chain 7. As shown in FIG. And the sprocket 6 of the rotary work lifter 1 which is closest to the rotary actuator 8 which is the drive source of the rotary work lifter 1 is connected to the sprocket 9 and the chain (attached to the rotary shaft of the rotary actuator 8). 7) is connected. In this way, the rotary actuator 8 and the rotary work lifter 1 are connected to the chain 7 via the sprockets 9 and 6, and the rotary actuator 8 rotates in the same direction simultaneously with the rotation of the rotary actuator 8. I can do it. Here, the rotary actuator 8 uses air pressure or fluid pressure of hydraulic pressure as a power source.

In FIGS. 3A-3D, the rotatable work lifter 1 has one shaft 10 which is rotatably held, parallel to each other and fixed to the shaft 10 and extending perpendicularly to the shaft 10. A plurality of spacers 11 arranged at intervals and a free bearing 12 for facilitating movement of the workpiece provided at the tip of each spacer 11 are provided. The shaft 10 is shown in FIG. 2. It rotates by the rotary actuator 8 shown.

When machining a workpiece | work, as shown in FIG. 3B, the shaft 10 rotates so that the spacer 11 and the free bearing 12 may be substantially perpendicular downward. Since the spacer 11 and the free bearing 12 face downward, the workpiece | work 3 is mounted on the workpiece support 14 attached to the workpiece support installation board 13, and a process is performed.

When carrying out or carrying in a workpiece | work on a machining table, as shown in FIG. 3A, the rotary work lifter has the shaft 10 in the position of FIG. 3B so that the spacer 11 and the free bearing 12 may be substantially vertically upward. Rotate about 180 ° from. Since the spacer 11 and the free bearing 12 are upward, and the free bearing 12 protrudes above the upper end of the work support 14, the work 3 is mounted on the free bearing 12. Lose. Thereby, carrying in and out of the workpiece | work 3 becomes easy from a machining table.

When the processing is finished and the work 3 is taken out, the rotary work lifter 1 rotates 180 ° from the position shown in FIG. 3B to the position shown in FIG. 3A. Here, as shown in FIG. 3D, when the workpiece 15 is on the work support mounting plate 13 or the chute 16 of the machining table 2, the rotary work lifter 1 in the middle of rotation is The workpiece 15 is sandwiched between the free bearing 12, the spacer 11, the work support mounting plate 13, or the chute 16, and cannot be rotated from the position shown in FIG. 3D. At this time, when the operation of the rotary work lifter 1 is not stopped immediately, the rotary actuator 8 continues the generation of torque, and the work support mounting plate 13 of the rotary work lifter 2 or the machining table 2 is carried out. ) Or damage to the chute 16.

4 and 5, the proximity sensor dog 18 and the light chopper are provided on the side opposite to the side on which the sprocket 9 of the rotary shaft 17 of the rotary actuator 8 is mounted. 19 is attached and rotates together with the rotation shaft 17. Around the proximity sensor dog 18, three proximity sensors 20a, 20b, and 20c whose positions are fixed are arranged on the rotational circumference of the proximity sensor dog 18 at the following positions. The first proximity sensor 20a is disposed at a position close to the proximity sensor dog 18 when the rotary work lifter 1 is in the position shown in FIG. 3A, and the second proximity sensor 20b is rotatable. When the work lifter 1 is in the position shown in FIG. 3B, the work lifter 1 is disposed at a position close to the proximity sensor dog 18. The third proximity sensor 20c has the rotary work lifter 1 in the position shown in FIG. 3C. It is arrange | positioned at the position which comes close to the proximity sensor dog 18 when it is made. Moreover, the photo sensor 21 is arrange | positioned and arrange | positioned so that the optical chopper 19 may be interposed.

By such a configuration, as an effect of the proximity sensors 20a, 20b, and 20c, when the rotary work lifter 1 is in the position at the time of carrying in and out of the workpiece shown in FIG. 3A, the proximity sensor dog 18 is the proximity sensor 20a. ), The proximity sensor dog 18 is in proximity to the proximity sensor 20b, and in contact with the workpiece 3 shown in FIG. 3C. Since the proximity sensor dog 18 is close to the proximity sensor 20c, each position can be detected. As an effect of the optical chopper 19, when the rotary shaft 17 is rotating, that is, when the rotary work lifter 1 is rotating, the photo sensor 21 repeats ON / OFF, so that the photo sensor 21 The pulse is output from. In addition, since the time interval of the output pulse of the photo sensor 21 shows the speed of rotation from the time required for the rotating shaft 3 to rotate a fixed angle, the time interval of the output pulse of the photo sensor 21 is shown. From this, the rotational speed of whether the rotary work lifter 1 is rotating or stationary can be detected at any time.

As described above, by detecting the position of the rotary work lifter 1 by the proximity sensors 20a, 20b, and 20c, the rotation situation of the rotary work lifter 1 is detected by the photo sensor 21 from time to time. From the position (1) at the time of the process shown in FIG. 3B to the position which starts to raise the workpiece | work 3 shown in FIG. 3C, ie, the proximity sensor dog 18 shown in FIG. When the rotation of the rotary actuator 8 is stopped from the time interval of the output pulse of the photo sensor 21 from the position to the position of the proximity sensor 20c, the free bearing 1c or the spacer 1d is detected. ) And the rotation of the rotary work lifter 1 is likely to be interrupted by sandwiching the workpiece between the work support attachment plate 1b and the chute 16. Therefore, in such a case, it is necessary to stop the operation of the rotary work lifter 1 urgently.

By the way, from the position where the rotary work lifter 1 starts to raise the workpiece | work 3 shown in FIG. 3C to the position to carry in / out the workpiece | work 3 shown in FIG. Interruption of rotation in (1) is difficult to occur, but it is not occurred at all. In addition, it is conceivable that the workpiece 3 may be unexpectedly weighed at the end of the machining, and thus the workpiece 3 may not be lifted by the rotary work lifter 1. Therefore, it is preferable to detect the rotation situation of the rotary work lifter 1 at any time, even while the rotary work lifter 1 rotates from the position which lifts the workpiece | work 3 to the position which carries out the work 3 in and out.

Next, the operation and control of the rotary work lifter in the first embodiment for carrying out the present invention will be described.

In FIG. 6, the rotary actuator 8 which is the drive source of the rotary work lifter 1 is controlled by the drive source control part 30, such as rotation start, rotation stop, rotation direction switching, and the like. The operation control may be automatically performed by a program input to the drive source control unit 30, in some cases, by an operator. In the rotary actuator 8, as the speed detecting means 31 for detecting the rotational speed of the rotary actuator 8, the combination of the optical chopper 19 and the photo sensor 21 and the output from the photo sensor 21 are described. The pulse period measuring device 32 for obtaining the time interval of a pulse is connected. The output of the pulse period measuring device 32 is transmitted to the speed determining unit 33 and compared with the set value in the speed determining unit 33 to determine whether to stop the rotation of the rotary work lifter, and when it stops, the drive source The drive source controller 30 stops the rotation of the rotary actuator by transmitting a stop signal to the controller 30. On the other hand, the above-mentioned proximity sensors 20a, 20b, and 20c are connected to the rotary actuator 8 as position detection means 34 for detecting the rotational position of the rotary actuator 8. The outputs of the proximity sensors 20a, 20b, and 20c are transmitted to the position determining unit 35, and the position determining unit 35 determines whether the rotary work lifter has reached a predetermined position, and stops at the predetermined position. In this case, by sending a stop signal to the drive source controller 30, the drive source controller 30 stops the rotation of the rotary actuator.

Next, the flow of operation will be described. In FIG. 7, in order to rotate the rotatable work lifter 1 to the work take-in / out position so that the work can be taken out after the end of the processing, the drive source control unit 30 controls the rotary source by automatic operation by an operator's input or a program. (8) is rotated (step S01). The position determining unit 35 determines whether the rotary work lifter 1 has reached the position where the workpiece is lifted by whether or not the proximity sensor 20c that detects the position for lifting the workpiece that is the position detecting means 31 is turned on. It is judged whether or not (step S02). While the proximity sensor 20c is turned ON in step S02, the output pulse time interval of the photo sensor 21 which is an alternative value of the rotational speed of the rotary work lifter detected by the speed detecting means 31 is measured. The determination part 33 compares with the predetermined value t1 which a rotary work lifter etc. does not lead to damage, and determines whether a rotary work lifter is rotating normally (step S03). If the rotary work lifter is equal to or greater than the predetermined speed, that is, the output pulse time interval of the speed detecting means 31 is equal to or smaller than the predetermined value t1, the rotary work lifter determines that the rotary work lifter rotates without a problem, and the process is performed again in step S02. When the proximity sensor 20c is turned ON, it is judged that the rotary work lifter 1 can rotate to the position where the work is lifted up without any obstacle such as the insertion of the workpiece, and then it is determined whether or not the work carrying out position has been reached. The position determining unit 35 determines whether the proximity sensor 20a is turned on (step S04). While the proximity sensor 20a is turned ON in step S04, the output pulse time interval of the photo sensor 21 which is an alternative value of the rotational speed of the rotary work lifter detected by the speed detecting means 31 is measured. The determination part 33 compares with the predetermined value t2 which a rotary work lifter etc. does not lead to damage, and determines whether a rotary work lifter is rotating normally (step S05). If the rotary work lifter is equal to or greater than the predetermined speed, that is, the output pulse time interval of the speed detecting means 31 is equal to or less than the predetermined value t2, it is determined that the rotary work lifter is rotating without a problem, and step S04 is again performed. When the proximity sensor 20a is turned on and the position determination unit 35 determines that the rotary work lifter 1 has reached the work in / out position, the position determination unit 35 outputs a stop signal to the drive source control unit 30. The rotation of the rotary work lifter is stopped (step S06).

In the step S03, when the speed determination unit 33 determines that the rotational speed of the rotary work lifter is smaller than the predetermined speed, that is, the output pulse time interval of the speed detecting means 31 is larger than the predetermined value t1, the workpiece or the like Since the rotation of the rotary work lifter may be interrupted by the insertion of the, the speed determining unit 35 outputs a stop signal to the drive source control unit 30 to stop the rotation of the rotary work lifter (step S07). When the rotatable work lifter stops, the machine operator checks the cause of the rotation of the rotatable work lifter, removes the work piece if the work piece is stuck, and removes the work properly if the cause is otherwise (step S08). After the obstacle removal operation such as removing the workpiece by the operator, the operator inputs a command to the drive source controller 30 in order to rotate the rotatable work lifter to the work carrying in / out position again (step S09). After that, a series of operations are performed again from step S02.

In step S05, when the speed determination part 33 determines that the rotational speed of the rotary work lifter is less than the predetermined speed, that is, the output pulse time interval of the speed detecting means 31 is larger than the predetermined value t2, the workpiece or the like Since the rotation of the rotary work lifter may be interrupted due to the insertion or other obstacle, the speed determination unit 35 outputs a stop signal to the drive source control unit 30 to stop the rotation of the rotary work lifter (step S17). ). When the rotatable work lifter stops, the machine operator checks the cause of the rotation of the rotatable work lifter, removes the work piece if the work piece is stuck, and removes the work properly if the cause is otherwise (step S18). After the obstacle removal operation such as removing the workpiece by the operator, the operator inputs a command to the drive source controller 30 in order to rotate the rotatable work lifter to the work carrying in / out position again (step S19). After that, a series of operations are performed again from step S04.

Here, the rotation range of the rotary work lifter 2 in which the rotary work lifter 1 raises the workpiece 3, that is, the proximity sensor 20c until the proximity sensor 20a is turned on, is approached. Compared with the time until the sensor 20c turns on, the load to the rotary actuator 8 increases by the mass of the workpiece | work 3, and the rotational speed of the rotary work lifter 1 becomes slow. For this reason, it is preferable to set t1 < t2, i.e., to raise the work, and the slow speed determination value as compared with when the work is not raised. Of course, while t1 = t2 and the rotary work lifter 1 rotates from the position at the time of machining to the position at the time of carrying in / out of the workpiece, the speed may be determined by a constant value, but the determination value is rotated when lifting the workpiece. It cannot be set faster than speed. This is because the rotation is stopped by the determination unit when lifting the work. On the other hand, if the judgment value is set on the basis of the slow speed at the time of lifting the workpiece, in the range where the rotational speed at which the workpiece is not lifted is relatively high, the time until breakage due to the insertion of the workpiece is short, and the judgment value Since it may be considered to be damaged before determining that the rotational speed is slow to the speed of, it is preferable to set appropriate determination values in the range of the high speed and the range of the slow speed, respectively.

In this case, the rotational speed is detected at the time interval of the output pulse of the photo sensor. However, if the speed can be substituted, the speed is not particularly limited to the time interval of the output pulse. In addition, you may count the number of pulses in any fixed time of an output pulse, for example.

The present invention provides a rotary work lifter when the rotary work lifter stops rotation by sandwiching a workpiece or the like between a machining table or the like by providing the detection means and the determination unit, and the rotation is stopped by any other influence. The operation can be stopped. Therefore, the drive source continues to generate torque even after the rotation of the rotary work lifter stops as in the related art, and it is possible to prevent the rotary work lifter, the working table, or the like from breaking. Moreover, since damage to a rotary work lifter, a processing table, etc. can be prevented, the cost and time required for the repair at the time of a damage can be reduced, and operating cost as a processing machine and improvement of processing efficiency can be realized.

In addition, in Embodiment 1, although the driving source of the rotary work lifter 1 was a rotary actuator 8, the straight moving cylinder which uses a fluid pressure as a power source, the rack and pinion, and the electrics The motor may be a power source.

Moreover, in Embodiment 1, although the means which detects the rotation situation of the rotary work lifter 2 from time to time is comprised of the photo sensor 21 and the optical chopper 19, the rotary encoder (rotary encoder) on the rotary shaft 17 of a rotary actuator was carried out. The same effect can be obtained also by detecting and comparing the time interval of the pulse output from a rotary encoder.

Moreover, in Embodiment 1, although the means which detects the rotational situation of the rotary work lifter 1 from time to time is attached to the rotary actuator 8, you may attach to the rotating shaft of the rotary work lifter 1. As shown in FIG. In this case, it is necessary to appropriately change the judgment values t1 and t2 of the time intervals of the output pulses of the photo sensor 21 from the relationship of the gear ratio between the sprocket 9 and the sprocket 6.

By the way, in the first embodiment, the configuration of the rotary work lifter according to the present invention has been described as an example of the case where the rotary work lifter rotates from the position at the time of machining to the position at the time of carrying in and out of the workpiece. It goes without saying that even when rotating to the position at the time of workpiece machining, the same effect can be obtained by performing the same control with the same structure. Also in the following embodiment, when the rotary work lifter rotates from the position at the time of a process to the position at the time of carrying in / out of a workpiece | work, it demonstrates as an example, The effect similar to the above can be acquired also in the reverse rotation.

Embodiment 2.

In the first embodiment, the rotation of the rotary work lifter is detected by the combination of the optical chopper and the photo sensor. In the second embodiment, the rotation of the rotary work lifter is detected by the rotation load of the rotary work lifter. 1 and 2, the second embodiment is almost the same as the first embodiment. FIG. 8 shows a rotary work lifter in a second embodiment for carrying out the present invention, which is a front view of a detection means of a rotational position in the rotary work lifter seen in the same direction as FIG. 4 of the first embodiment. FIG. 9 is a side view of a rotation position and a rotation load detecting means in the rotary work lifter seen in the same direction as FIG. 5 of the first embodiment. FIG. It is a block diagram which shows the control part of the rotary work lifter in Embodiment 2 for implementing this invention. 11 is a flowchart showing a control method of the controller.

8 and 9, the rotary shaft 17 and the sprocket 9 of the rotary actuator 8 are connected via a torque sensor 25, and the side on which the sprocket 9 of the rotary shaft 17 is connected. On the opposite side, the proximity sensor dog 18 is attached like Embodiment 1, and it rotates with the rotating shaft 17. As shown in FIG. In the present embodiment, however, the optical chopper 19 is not provided. Around the proximity sensor dog 18, three proximity sensors 20a, 20b, and 20c whose positions are fixed are arranged in the same position as the first embodiment on the rotation circumference of the proximity sensor dog 18.

The effects of the proximity sensors 20a, 20b, and 20c are the same as those in the first embodiment. As an effect of the torque sensor 25, the torque which the rotary actuator 8 generate | occur | produces as a load for rotating the rotary work lifter 1 can be detected at any time.

As described above, by detecting the position of the rotary work lifter 1 by the proximity sensors 20a, 20b, and 20c, the torque of the rotary actuator 8, which is the driving source of the rotary work lifter 1, is sometimes detected. The proximity sensor dog 18 shown in FIG. 4 is moved from the position at the time of machining shown in FIG. 3B to the position which starts to raise the workpiece 3 shown in FIG. 3C, ie, the proximity sensor 20b. When it is detected that the torque generated by the rotary actuator 8 has abnormally increased from the position of) to the position of the proximity sensor 20c, the workpiece is worked with the free bearing 1c or the spacer 1d and the workpiece. It can be said that the load for rotation between the support attachment plate 1b and the chute 16 to rotate the rotary work lifter 1 is abnormally increased. Therefore, in such a case, it is necessary to immediately stop the operation of the rotary work lifter 1.

Of course, like the first embodiment, the rotary work lifter 1 reaches the position to carry in and out the work 3 shown in FIG. 3A from the position where it starts to raise the work 3 shown in FIG. It is preferable to detect the rotation situation of the rotary work lifter 1 from time to time, even when the proximity sensor dog 18 shown in the figure reaches from the position of the proximity sensor 20c to the position of the proximity sensor 20a.

Next, the control of the rotary work lifter in Embodiment 2 for implementing this invention is demonstrated.

In FIG. 9, the rotary actuator 8 which is the drive source of the rotary work lifter 1 is controlled by the drive source control part 30, such as rotation start, rotation stop, rotation direction change. The torque sensor 25 mentioned above is connected to the rotary actuator 8 as load detection means 37 which detects the load of the rotation operation of the rotary actuator 8. The output of the torque sensor 25 is transmitted to the load determining unit 38 and compared with the set value in the load determining unit 38 to determine whether to stop the rotation of the rotary work lifter, and when stopping, the drive source controller The drive source control unit 30 stops the rotation of the rotary actuator by sending a stop signal to 30. On the other hand, the position detection means 34 and the position determination part 35 concerning the rotation position of the rotary actuator 8 are the same structures as Embodiment 1. As shown in FIG.

The flow of control of the rotary work lifter in the second embodiment is almost the same as that in the first embodiment. A different point is demonstrated with reference to FIG. In Embodiment 1, determination of the rotational situation of a rotary work lifter was performed in step S03 and S05. In Embodiment 2, new step S23 and S25 is implemented instead of said step S03.

In FIG. 11, the load of the rotation operation of the rotary work lifter detected by the load detection means 37 is loaded into the load determination unit 38 while the proximity sensor 20c is turned ON in step S02. As a result, the rotational work lifter or the like is compared with a predetermined load T1 which does not cause damage, and it is determined whether the rotary work lifter is normally operating (step S23). If it is less than the predetermined load T1, it is judged that the rotary work lifter is operating without a problem, and it performs step S02 again. In step S23, when the load determination part 38 determines that the load of the rotational work of the rotary work lifter has exceeded the predetermined load T1, the rotation of the rotary work lifter is interrupted by the insertion of the workpiece and the like and is an abnormal load. May occur, the load determination part 38 outputs a stop signal to the drive source control part 30, and stops rotation of a rotary work lifter (step S07).

Until the proximity sensor 20a is turned on in step S04, the load of the rotary motion of the rotary work lifter detected by the load detecting means 37 causes the rotary work lifter or the like to be loaded by the load determination unit 38. It compares with the predetermined load T2 which does not lead to damage, and determines whether the rotary work lifter is operating normally (step S25). If it is less than the predetermined load T2, it is determined that the rotary work lifter is operating without a problem, and step S04 is again performed. In step S25, when the load determination part 38 determines that the load of the rotary motion of a rotary work lifter exceeded predetermined load T2, rotation of a rotary work lifter is interrupted by the insertion of a workpiece or other obstacles. Since abnormal load may have occurred, the load determination part 38 outputs a stop signal to the drive source control part 30, and stops rotation of a rotary work lifter (step S17).

Other steps are the same as those in the first embodiment.

Here, while the rotary work lifter 1 rotates the range of rotation of the rotary work lifter 2 which raises the workpiece | work 3, ie, the proximity sensor 20c turns on and the proximity sensor 20a turns on, the proximity sensor Since the load on the rotary actuator 8 increases by the mass of the workpiece 3 as compared with the time until 20c is ON, the workpiece is raised when T1 &lt; A large load judgment value is preferable compared with the case where it is not made. Of course, while T1 = T2, while the rotary work lifter 1 rotates from the position at the time of machining to the position at the time of carrying out the work, the speed may be determined by a constant value, It cannot be set with a small load. This is because the rotation is stopped by the determination unit when lifting the work. On the other hand, when the determination value is set on the basis of a large load when lifting the work, it may be considered that the load that does not lift the work is damaged by rotating with a load smaller than the determination value in a relatively small range. For example, when the work is lifted, the weight of the work is distributed to a plurality of rotary work lifters so that a load is applied. However, although the load as a whole is large, the load on each rotary work lifter does not lead to breakage. However, if a load occurs in only one rotary work lifter as shown in Fig. 3D, even if a load that causes damage to the rotary work lifter is generated, the load of the whole rotary work lifter is considered to be the load or less when lifting the work. Can be. Therefore, it is desirable to set appropriate determination values in the large range of the load and the small range of the load, respectively.

In the second embodiment, the speed detecting means and the speed determining unit of the first embodiment are replaced with the load detecting means and the load determining unit, respectively, and the same effects as in the first embodiment can be obtained.

In addition, a direct cause of damage to the rotary work lifter or the working table is a load. For example, even if the load does not reach the damage of the rotary work lifter or the like, the speed of the rotary work lifter may be later than the determined value. For example, in the case of a rotary actuator, the situation may occur when the fluid pressure of the power source is low. In this case, if it determines with rotation speed, rotation stops regardless of a breakage, and a loss time of work arises. Therefore, by detecting the load rather than the rotational speed of the rotary work lifter, the work efficiency can be further improved than in the first embodiment.

In addition, in Embodiment 2, although the torque sensor 25 is attached to the rotary actuator 8, you may attach to the rotary shaft of the rotary work lifter 1 other than the rotary actuator 8. As shown in FIG.

Moreover, in Embodiment 2, although the means for detecting the load for rotating the rotary work lifter 1 was used as the torque sensor 25, in the case of the rotary actuator 8 which uses air pressure or hydraulic fluid pressure as a power source, When the load for rotating the rotary work lifter 1 becomes large, the fluid pressure of the power source increases, so the pressure sensor for detecting the fluid pressure may be a means for detecting the load for rotating the rotary work lifter 1. . In addition, when the electric motor which uses electricity as a power source is a drive source of the rotary work lifter 1, when the load for rotating the rotary work lifter 1 becomes large, an electric current value will become large, and the electric current meter which detects an electric current is a rotary workpiece. It is good also as means for detecting the load for rotating the lifter 1. In these cases, when the pressure sensor detects an abnormal pressure increase or when the ammeter detects an abnormal current increase, the load for rotating the rotary work lifter 1 abnormally increases due to the fitting of the workpiece. In this case, the same effect as in the second embodiment can be obtained by stopping the operation of the rotary work lifter 1 by the flow as shown in FIG. 11.

Embodiment 3.

By the way, since the optical chopper 19 employ | adopted in Embodiment 1 has the slit of equal intervals, the rotary actuator 8 rotates a fixed angle for every output pulse of the photo sensor 21, and the photo sensor 21 The rotation angle of the rotary actuator 8, that is, the rotation angle of the rotary work lifter 1 can be detected at any time from the number of times of output pulses of i). Therefore, the photo sensor 21 can perform both the speed detection means and the position detection means.

Fig. 12 shows a rotary work lifter in a third embodiment for carrying out the present invention, which is a front view of a rotation position and a rotational speed detecting means in the rotary work lifter seen in the same direction as in Fig. 4 of the first embodiment. . FIG. 13 is a side view of a rotation position and a rotational speed detecting means in the rotary work lifter seen in the same direction as FIG. 5 of the first embodiment. FIG. It is a block diagram which shows the control part in the rotary work lifter in Embodiment 3 for implementing this invention. 11 is a flowchart showing a control method of the controller.

12 and 13, the proximity sensor dog 18 and the optical chopper 19 are provided on the side opposite to the side on which the sprocket 9 of the rotary shaft 17 of the rotary actuator 8 is mounted. Is mounted, and rotates together with the rotary shaft 17. Around the proximity sensor dog 18, only one proximity sensor 20b whose position is fixed is arrange | positioned in the same place as Embodiment 1. As shown in FIG. The photo sensor 21 is fixed in position so as to sandwich the optical chopper 19, and is arranged as in the first embodiment.

By such a configuration, the effect of the optical chopper 19 and the photo sensor 21 is to rotate the rotary work lifter 1 by detecting the time interval of the output pulse of the photo sensor 21 as in the first embodiment. Speed can be detected. In the third embodiment, the rotation angle of the rotary work lifter can be detected by counting the number of output pulses of the photo sensor 21. However, since only the amount of change in angle can be known by counting the number of output pulses, the origin detection for determining the absolute position is necessary. This is the effect of the proximity sensor 20b. The proximity sensor 20b is turned on when the rotary work lifter 1 becomes the position at the time of machining shown in Fig. 3B. Therefore, the position is set as the origin and the count of the number of pulses is reset at this position. Can be determined.

As described above, the origin position of the rotary work lifter 1 is determined by the proximity sensor 20b, and the photo sensor 21 detects the rotational speed and the rotation angle change of the rotary work lifter 1 at any time, and the origin position. The absolute position is determined by the change in angle from the position, from the position at which the rotary work lifter 1 starts to work up the work 3, or the rotary work lifter 1 at the work 3 It is possible to detect that the rotation of the rotary actuator 8 has stopped from the time interval of the output pulse of the photo sensor 21 from the position where it starts to raise) to the position of work-loading in and out. In this case, since the rotation of the rotary work lifter 1 is likely to be stopped due to the fitting of the workpiece, the operation of the rotary work lifter 1 needs to be stopped immediately. Next, the control of the rotary work lifter in Embodiment 3 for implementing this invention is demonstrated.

In FIG. 14, the operation of the rotary actuator 8, which is the driving source of the rotary work lifter 1, by the driving source control unit 30 is controlled by the rotation start, rotation stop, rotation direction switching, and the like. The speed detecting means 31 and the speed determining unit 33 relating to the rotational speed of the rotary actuator 8 are the same as those in the first embodiment. On the other hand, the position detection means 34 regarding the rotation position of the rotary actuator 8 combines the optical chopper 19 and the photo sensor 21 which comprise the speed detection means 31, and this optical chopper 19 ) And a counter 37 for counting the number of output pulses of the photo sensor 21 and the photo sensor 21. When the proximity sensor 20b is turned on, the home position is detected, and the count number of the counter 21 is reset when the proximity sensor 20b is turned on. Since the count of the counter 21 due to the rotation of the rotary work lifter after reset coincides with the amount of change in angle from the origin position, this value is output to the position determining unit 35 and the predetermined position is determined by the position determining unit 35. It is determined whether or not to reach. For example, if there are n1 pulses counted when the rotary work lifter rotates from the origin, that is, from the position of FIG. 3B to the position of FIG. 3C, whether or not the position of FIG. 3C has been reached is n1 counted pulses. It can be determined as In addition, when the rotary actuator 8 reverses by the command of the drive source control part 30, the drive control part 30 controls the counter 21 so that the counter 21 may reduce the number of counts, and counts. The absolute position can always be detected even when the actuator 8 is reversely rotated.

The flow of control of the rotary work lifter in the third embodiment is basically the same as that in the first embodiment. A different point is demonstrated with reference to FIG. In Embodiment 1, determination of the rotation angle of a rotary work lifter was performed by step S02, S04. In Embodiment 2, new step S32, S34 is implemented instead of said step S02, S04.

In FIG. 15, the position determination part 35 is a rotary type whether the count number of the counter 37 which is the position detection means 31 became the count number n1 or more until it reached the position which raises a workpiece | work from an origin. It is determined whether the work lifter 1 has reached the position at which the work is lifted (step S32). While the count count reaches n1 or more in step S32, the speed determination unit 33 determines the output pulse time interval of the photo sensor 21 which is an alternative value of the rotational speed of the rotary work lifter detected by the speed detecting means 31. ), It is compared with a predetermined value t1 in which the rotary work lifter or the like does not lead to damage, and it is determined whether the rotary work lifter is normally rotating (step S03). If the rotary work lifter is equal to or greater than the predetermined speed, that is, the output pulse time interval of the speed detecting means 31 is equal to or less than the predetermined value t1, it is determined that the rotary work lifter is rotating without a problem, and step S32 is executed again. When the counter number of the counter 37 becomes n1 or more, it is judged that the rotary work lifter 1 has been able to rotate to the position where the work is lifted up without obstacles such as the insertion of the workpiece, and then whether the work carry-in / out position has been reached. The position determination unit 35 determines whether or not the count number of the counter 37 has reached the count number n2 or more from the origin until reaching the position of the work in / out operation (step S34). In step S34, until the count number of the counter 37 becomes n2 or more, the output pulse time interval of the photo sensor 21 which is an alternative value of the rotational speed of the rotary work lifter detected by the speed detecting means 31, The speed determining unit 33 compares the rotary work lifter and the like with a predetermined value t2 at which no damage occurs, and determines whether the rotary work lifter is normally rotating (step S05). Other steps are the same as those in the first embodiment.

In the third embodiment, the photo sensor used in the speed detecting means of the first embodiment can be used, and the output pulse of the photo sensor can be counted to operate as the position detecting means, and the same effect as in the first embodiment can be obtained. have.

In the first embodiment, the position detection is performed by the proximity sensor, but the proximity sensor can only determine the position where the proximity sensor is arranged. If it is desired to determine at another position, there is a need to change the arrangement of the proximity sensor. On the other hand, in the third embodiment, any position can be set simply by changing the number of counts to be determined, and the detection position can be changed simply and easily as compared with the first embodiment.

In the third embodiment, although the position detection and the speed detection are performed by counting the number of pulses of the output pulses of the photo sensor 21 and measuring the pulse time interval, the output pulses of the rotary encoder mounted on the rotary shaft 17 are implemented. The same effect can be obtained by treating the same. Moreover, it is good also as a proximity sensor dog attached to the rotating shaft 17, and the proximity sensor fixed on the circumference and arrange | positioned in many at a fixed angle. In this case, the speed can be detected at time intervals when the adjacent proximity sensors are turned on, and the horizontal position at which one proximity sensor is turned on can be detected.

Embodiment 4.

In Embodiment 1, when the rotary work lifter 1 is stopped by the insertion of a workpiece, etc., a machine operator removes the workpiece 15 etc. which became the obstacle of the rotation of the rotary work lifter 2, and again carries out a workpiece carry-out. To rotate to position. In this case, the work that a machine operator removes obstacles, such as a workpiece, is always needed, and becomes an obstacle of automatic processing. Reducing this obstacle is the purpose of the fourth embodiment.

The block diagram which shows the control part of the rotary work lifter in Embodiment 4 is the same as that of FIG. 16 is a flowchart showing a control method of the controller.

In this Embodiment 4, the process of the stop by the clamping of the workpiece of the rotary work lifter 1 is as follows.

When the rotary work lifter 1 stops in the middle of the ascending, the rotary work lifter 1 is rotated in reverse for a predetermined time and stopped. Again, the rotary work lifter 1 is rotated forward to continue the rotation. When the rotary work lifter 1 stops again, a series of operations of reverse rotation, stop, and forward rotation are performed again. When the cycle work lifter 1 stops in the middle of the ascension even after the predetermined number of cycles and the predetermined number of cycles, the same post-process as in the first embodiment is performed.

Next, the control of the rotary work lifter in Embodiment 4 for implementing this invention is demonstrated. The flow of control of the rotary work lifter in the fourth embodiment is basically the same as that in the first embodiment. A different point is demonstrated with reference to FIG.

In FIG. 16, before step S01, the drive source control part 30 sets the variables m and n which hold | maintain the stopped number of times of the rotary work lifter 1, and resets the number to 1 (step S40). In step S07, after the speed | rate becomes below the determination value and it stops until the rotary work lifter 1 raises a workpiece | work, the drive control part 30 judges whether the number of stops n became more than setting value N (step S41). . If the stop count n is less than the set value N, the drive control unit 30 increases the stop count n by one (step S42). Then, the drive control unit 30 reversely rotates the rotary work lifter only for a predetermined time (step S43), and stops the rotary work lifter 1 after the predetermined time (step S44). After that, the rotary work lifter 1 is rotated again from step S09.

When the drive source control unit 30 determines that the step S44 is repeated several times from the step S42, and the stop count n is greater than or equal to the set value N in step S41, a warning is given to the operator to carry out step S08. The same process is performed.

In step S17, after the rotary work lifter 1 lifts up a workpiece | work and stops by the speed being below the determination value until it reaches the position at the time of carrying in / out of a workpiece | work, the drive control part 30 makes the stop count m more than the set value M or more. It is judged whether or not it is (step S45). If the stop count m is less than the set value M, the drive control unit 30 increases the stop count m by one (step S46). Then, the drive control part 30 reversely rotates the rotary work lifter only for a predetermined time (step S47), and stops the rotary work lifter 1 after a predetermined time (step S48). After that, the rotary work lifter 1 is rotated again from step S19.

When the drive source control unit 30 determines that the number of stops m is equal to or greater than the set value M in step S45 by repeating the step S48 several times from step S46, a warning is given to the operator to perform step S18. The same process is performed. Other steps are the same as those in the first embodiment.

Here, in the fourth embodiment, it has been described that the predetermined time reverse rotation is performed in steps S43 and S47, but for example, the predetermined angle reverse rotation may be performed. What is necessary is just to set suitably the position which can be detected by a position detection means about a predetermined angle. In addition, since the case where the rotary work lifter cannot be reverse rotated by the insertion of the workpiece can also be considered, it is preferable to detect the rotation speed of the rotary work lifter even during reverse rotation.

By employing the above treatment, in the case where the workpiece is easily deformed or in a state in which the workpiece can be easily inserted, the workpiece is prevented by bringing the rotary work lifter 1 into contact with the workpiece several times. There is a possibility that it may be deformed unintentionally, or the workpiece may be removed to the same place where it is not obstructed, and the operator can reduce the manual time, that is, the obstacle of automatic processing.

Moreover, although this Embodiment 4 is based on Embodiment 1, even if it adds to the rotary work lifter of Embodiment 2 or Embodiment 3, the same effect can be acquired.

As described above, the rotary work lifter and the processing machine according to the present invention are particularly suitable for use in plate processing machines and plate processing such as laser processing machines, gas cutting machines, plasma cutting machines and the like.

Claims (17)

A rotary work lifter having a drive source whose operation is controlled by a drive source control unit, which is driven by the drive source and enables conveyance of a workpiece placed on a machining table, Position detecting means for detecting a rotational position of the rotatable work lifter; A position determination unit that determines whether the rotatable work lifter has reached a predetermined position based on the position information detected by the position detecting means; Speed detecting means for detecting a rotational speed of the rotatable work lifter; A speed judging unit which outputs a signal to the drive source control unit to stop the rotary work lifter when the rotary work lifter becomes below a predetermined speed by the speed information detected by the speed detecting means; Rotary work lifter, characterized in that provided. The method of claim 1, By the said position determination part, it is determined in which range of the 1st rotation range which a said rotatable work lifter does not raise a workpiece, and the 2nd rotation range which raises a workpiece | work, The speed determining unit determines a first speed as the predetermined speed when the rotatable work lifter is located in the first rotation range, and a second when the rotatable work lifter is located in the second rotation range. Is determined as the predetermined speed, and the first speed and the second speed are set separately. The method of claim 2, And said first speed is set to a speed faster than said second speed. A rotary work lifter having a drive source whose operation is controlled by a drive source control unit, which is driven by the drive source and enables conveyance of a workpiece placed on a machining table, Position detecting means for detecting a rotational position of the rotatable work lifter; A position determination unit that determines whether the rotatable work lifter has reached a predetermined position based on the position information detected by the position detecting means; Load detection means for detecting a load of a rotational operation of the rotatable work lifter; A load determination section for outputting a signal to stop the rotary work lifter to the drive source controller when the load of the rotary operation of the rotary work lifter becomes a predetermined load or more by the load information detected by the load detection means; Rotary work lifter, characterized in that provided. The method of claim 4, wherein By the said position determination part, it is determined in which range of the 1st rotation range which a said rotatable work lifter does not raise a workpiece, and the 2nd rotation range which raises a workpiece | work, The load determining unit determines a first load as the predetermined load when the rotatable work lifter is located in the first rotation range, and a second when the rotatable work lifter is located in the second rotation range. The load of the load is determined as the predetermined load, and the first load and the second load are individually set. The method of claim 5, And the first load is set to a load smaller than the second load. The method according to any one of claims 1 to 6, The position detecting means, A proximity sensor dog mounted on a rotation axis of the drive source or another rotation axis rotating in synchronization with the rotation axis of the drive source, And a proximity sensor fixed to a position close to the proximity sensor dog when the rotation axis is rotated by a predetermined angle around the rotation shaft on which the proximity sensor dog is mounted. The method according to any one of claims 1 to 6, The position detecting means, A light chopper mounted on a rotation axis of the drive source or another rotation axis rotating in synchronization with the rotation axis of the drive source; A photo sensor for detecting light transmitted or blocked by the optical chopper; And a counter for counting pulses output from the photo sensor by rotating the optical chopper. The method according to any one of claims 1 to 6, The position detecting means, An encoder mounted on a rotation shaft of the drive source or another rotation shaft rotating in synchronization with the rotation axis of the drive source; And a counter for counting pulses output from the encoder by rotating the encoder. The method according to any one of claims 1 to 3, The speed detecting means, An optical chopper mounted on a rotating shaft of the driving source or another rotating shaft rotating in synchronization with the rotating shaft of the driving source; A photo sensor for detecting light transmitted or blocked by the optical chopper; And a pulse period measuring device for measuring a time interval of a pulse output from the photo sensor by rotating the optical chopper. The method according to any one of claims 1 to 3, The speed detecting means, An encoder mounted on a rotation shaft of the drive source or another rotation shaft rotating in synchronization with the rotation axis of the drive source; And a pulse period measuring device measuring a time interval of a pulse output from the encoder by rotating the encoder. The method according to any one of claims 1 to 3, The speed detecting means, A proximity sensor dog mounted on a rotational axis of the drive source or another rotational axis rotating in synchronization with the rotational axis of the drive source; And a proximity sensor arranged at fixed intervals on a circumference close to the proximity sensor dog when the rotation shaft rotates around the rotation shaft on which the proximity sensor dog is mounted. The method according to any one of claims 4 to 6, The load detection means, And a torque sensor mounted on a rotation shaft of the drive source or another rotation shaft rotating in synchronization with the rotation axis of the drive source. The method according to any one of claims 4 to 6, The load detection means, And a pressure gauge for measuring the pressure of the fluid when the drive source uses the fluid pressure as the power source. The method according to any one of claims 4 to 6, The load detection means, And a current meter for measuring a current flowing through the drive source when the drive source uses electricity as a power source. The method according to any one of claims 1 to 6, When the rotatable work lifter is stopped by the stop signal output from the speed determining unit or the load determining unit, The drive source control unit, The rotary work lifter is rotated in a direction opposite to the rotation direction before stopping only a predetermined time or a predetermined angle, and rotates again in the original rotation direction, repeating the series of operations, and repeating a predetermined number of times. If the rotary work lifter is to stop the rotary work lifter. A processing machine provided with a rotary work lifter for enabling the conveyance of a workpiece placed on a working table, The processing machine provided with the rotary work lifter in any one of Claims 1-6.

Images